Nothing Special   »   [go: up one dir, main page]

JP6356350B2 - Method for detecting at least one object in a surrounding area of a motor vehicle, driver assistance system, and motor vehicle - Google Patents

Method for detecting at least one object in a surrounding area of a motor vehicle, driver assistance system, and motor vehicle Download PDF

Info

Publication number
JP6356350B2
JP6356350B2 JP2017520422A JP2017520422A JP6356350B2 JP 6356350 B2 JP6356350 B2 JP 6356350B2 JP 2017520422 A JP2017520422 A JP 2017520422A JP 2017520422 A JP2017520422 A JP 2017520422A JP 6356350 B2 JP6356350 B2 JP 6356350B2
Authority
JP
Japan
Prior art keywords
value
distance
determined
motor vehicle
driver assistance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2017520422A
Other languages
Japanese (ja)
Other versions
JP2017538109A (en
Inventor
ミヒャエル、ハレック
Original Assignee
ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー filed Critical ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー
Publication of JP2017538109A publication Critical patent/JP2017538109A/en
Application granted granted Critical
Publication of JP6356350B2 publication Critical patent/JP6356350B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9314—Parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9323—Alternative operation using light waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9324—Alternative operation using ultrasonic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93271—Sensor installation details in the front of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/9327—Sensor installation details
    • G01S2013/93272—Sensor installation details in the back of the vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Radar Systems Or Details Thereof (AREA)

Description

本発明は、運転者支援システムによって、自動車両の周辺区域内における少なくとも１つの物体を検出するための方法であって、時系列的に連続した計測サイクルのそれぞれにおいて、距離センサを通じて送信信号が送信され、少なくとも１つの物体によって反射された送信信号の一次および二次反射波が受信され、制御装置によって、一次反射波に基づいて第１距離値が決定され、二次反射波に基づいて第２距離値が決定されると共に、第１および第２距離値に基づいて少なくとも１つの物体の高さが決定される、方法に関する。本発明はまた、自動車両用の運転者支援システムにも関する。最後に本発明は、そのような運転者支援システムを含んだ自動車両に関する。   The present invention is a method for detecting at least one object in a surrounding area of a motor vehicle by a driver assistance system, wherein a transmission signal is transmitted through a distance sensor in each of a continuous measurement cycle. First and secondary reflected waves of the transmission signal reflected by the at least one object are received, a first distance value is determined based on the primary reflected wave by the controller, and a second distance is determined based on the secondary reflected wave. The method relates to a method in which a distance value is determined and a height of at least one object is determined based on first and second distance values. The invention also relates to a driver assistance system for motor vehicles. Finally, the present invention relates to a motor vehicle including such a driver assistance system.

現在、自動車両の物体からの距離を測定するのに用いられ得る距離センサに対して、特に関心が向けられている。そのような距離センサは、例えば超音波センサ、レーダーセンサ、または光学式センサとして構成され得る。そのような距離センサのデータに基づいて自動車両の運転中に運転者を支援する運転者支援システムが、先行技術より知られている。例えば、自動車両の周辺区域内における障害物からの距離を検出するのに、超音波センサが用いられる。自動駐車などの特定の用途のため、或いは自動制動操作のために、距離センサの助けを借りて物体の高さを測定するための様々なアプローチが存在している。かくして、例えば高い障害物や物体と、低い障害物や物体との間での識別を行うことが可能である。ここでは特に、推定ないし測定された物体の高さが、実際の物体の高さに対応していることが決定的に重要なことである。この情報の要素に基づいて、例えば、ある物体が通り越すことのできるものであるか否か、即ち低い物体であるか否かを定める、制動への介入についての判断が成される。   Currently, there is particular interest in distance sensors that can be used to measure distances from objects in motor vehicles. Such a distance sensor can be configured, for example, as an ultrasonic sensor, a radar sensor, or an optical sensor. A driver assistance system that assists a driver during driving of an automatic vehicle based on data of such a distance sensor is known from the prior art. For example, an ultrasonic sensor is used to detect a distance from an obstacle in a surrounding area of the motor vehicle. There are various approaches for measuring the height of an object with the aid of a distance sensor for specific applications such as automatic parking or for automatic braking operations. Thus, for example, it is possible to distinguish between a high obstacle or object and a low obstacle or object. It is particularly important here that the estimated or measured object height corresponds to the actual object height. Based on this information element, for example, a decision is made on the braking intervention that determines whether an object can be passed, i.e. whether it is a low object.

物体の高さを推定するための目下の方法は、物体への接近と移動した距離との間の差を計算している。この方法は、車両自体の運動の、優れて、性能に左右されやすい計算を想定しており、この場合、決定的な問題点は物体それ自体の未知の運動である。かくして、この方法は、静止した物体類でしか有効ではない。また、距離センサによって送信された送信信号における複数の反射波が検出され、二次反射波の高さが測定される方法が、先行技術より知られている。この場合、高い障害物の場合には一般的に障害物までの複数の信号経路が存在する、という認識が用いられる。第１の経路は直接反射波であり、第２の信号経路は、例えば地面を介した反射の反射波である。この信号経路は、かくして、やや長めのものである。２つの反射波が、特定方向で急速に連続して互いに続いている場合には、例えば物体が高いもの解釈されてよい、と想定され得る。   Current methods for estimating the height of an object calculate the difference between the approach to the object and the distance traveled. This method assumes an excellent, performance-sensitive calculation of the motion of the vehicle itself, in which case the crucial problem is the unknown motion of the object itself. Thus, this method is only effective with stationary objects. A method in which a plurality of reflected waves in a transmission signal transmitted by a distance sensor are detected and the height of a secondary reflected wave is measured is known from the prior art. In this case, the recognition is used that in the case of a high obstacle, there are generally a plurality of signal paths to the obstacle. The first path is a direct reflected wave, and the second signal path is a reflected wave reflected through the ground, for example. This signal path is thus somewhat longer. If two reflected waves follow each other in rapid succession in a particular direction, it can be assumed, for example, that the object is high.

この状況において、特許文献１（EP 1 308 751 B1）は、自動車両用の短距離認識システムを操作するための方法を記述している。ここでは、距離センサの反射波信号に基づいて物体の高さが測定される。この場合、被検出物体に向かって自動車両が進行するものと規定されてもいる。   In this situation, US Pat. No. 6,099,075 (EP 1 308 751 B1) describes a method for operating a short range recognition system for motor vehicles. Here, the height of the object is measured based on the reflected wave signal of the distance sensor. In this case, it is also defined that the automatic vehicle travels toward the detected object.

さらに、特許文献２（EP 1 643 271 B1）が、自動車両を駐車するためのシステム用に、駐車スペースにおける側方の境界を分類するための方法を記述している。この場合、確かめられた側方の境界を分類するために、距離センサの各反射波パルスが評価される。ここでは特に、反射波パルスの振幅とパルス長とが、予め規定可能な各閾値と比較される。   In addition, US Pat. No. 6,043,071 (EP 1 643 271 B1) describes a method for classifying lateral boundaries in a parking space for a system for parking a motor vehicle. In this case, each reflected wave pulse of the distance sensor is evaluated to classify the confirmed lateral boundaries. Here, in particular, the amplitude and the pulse length of the reflected wave pulse are compared with respective threshold values that can be defined in advance.

また、特許文献３（EP 1 910 866 B1）は、超音波式車両センサによって駐車スペースの奥行き測定するための方法を記述している。この場合、超音波センサの反射波信号の分散および／または分布が検査される。全てのおよび／または複数の伝播時間、および／または分布内での集中を形成する各距離が、予め規定可能な閾値を下回る場合には、奥行きが測定される。   Patent document 3 (EP 1 910 866 B1) describes a method for measuring the depth of a parking space with an ultrasonic vehicle sensor. In this case, the dispersion and / or distribution of the reflected wave signal of the ultrasonic sensor is examined. Depth is measured when all and / or multiple propagation times and / or each distance forming a concentration in the distribution is below a pre-determinable threshold.

欧州特許第１３０８７５１号明細書European Patent No. 1308751 欧州特許第１６４３２７１号明細書European Patent No. 1643271 欧州特許第１９１０８６６号明細書European Patent No. 1910866

本発明の目的は、距離センサを用いる運転者支援システムにおいて物体の高さをより確実に測定するためのアプローチを明示することである。   The object of the present invention is to specify an approach for more reliably measuring the height of an object in a driver assistance system using a distance sensor.

この目的は、本発明により、それぞれの独立請求項に記載の諸特徴を有した方法、運転者支援システム、および自動車両を通じて達成される。本発明の有利な諸実施形態が、各従属請求項、明細書、および図面の主題となっている。   This object is achieved according to the invention through a method, a driver assistance system, and a motor vehicle with the features described in the respective independent claims. Advantageous embodiments of the invention are the subject of each dependent claim, the description and the drawings.

本発明による一方法は、運転者支援システムによって、自動車両の周辺区域内における少なくとも１つの物体を検出するために用いられる。ここでは、時系列的に連続した計測サイクルのそれぞれにおいて、距離センサを通じて送信信号が送信され、少なくとも１つの物体によって反射された送信信号の一次および二次反射波が受信される。また、制御装置によって、一次反射波に基づいて第１距離値が決定され、二次反射波に基づいて第２距離値が決定されると共に、第１距離値および第２距離値に基づいて少なくとも１つの物体の高さが決定される。少なくとも１つの物体に対する自動車両の相対運動中に計測サイクルが実行される。計測サイクルのうち少なくとも２つについて、それぞれの場合における、第２距離値と第１距離値との間の差を表す差の値が決定され、少なくとも２つの計測サイクルにおいて決定されたそれぞれの差の値の変化に基づいて、少なくとも１つの物体の高さが決定される。   One method according to the invention is used by a driver assistance system to detect at least one object in a surrounding area of a motor vehicle. Here, in each of the measurement cycles that are continuous in time series, the transmission signal is transmitted through the distance sensor, and the primary and secondary reflected waves of the transmission signal reflected by at least one object are received. Further, the control device determines the first distance value based on the primary reflected wave, determines the second distance value based on the secondary reflected wave, and at least based on the first distance value and the second distance value. The height of one object is determined. A measurement cycle is performed during relative movement of the motor vehicle with respect to at least one object. For at least two of the measurement cycles, a difference value representing the difference between the second distance value and the first distance value in each case is determined, and for each difference determined in at least two measurement cycles Based on the change in value, the height of at least one object is determined.

本方法は、自動車両の周辺における少なくとも１つの物体を検出するために用いられる。自動車両の周辺区域内における１つないし複数の物体が、かくして特徴付けられる。特に、少なくとも１つの物体の高さが測定されるべきものである。この目的のために、運転者支援システムの距離センサを用いて、複数の計測サイクルが実行される。距離センサは、例えばレーダーセンサ、レーザーセンサ、または超音波センサである。計測サイクルのそれぞれにおいて、距離センサを通じて送信信号が送信される。この送信信号は、自動車両の周辺区域内における少なくとも１つの物体によって反射され、反射波として再び距離センサに到達する。この場合、一般的に送信信号の複数の反射波が受信される。送信信号の送信と、それぞれの反射波の受信との間の伝播時間に基づいて、距離センサと物体との間の距離が決定される。一次反射波を基礎として、送信信号の送信と一次反射波の受信との間の伝播時間に基づき第１距離値が決定される。また、送信信号の送信と二次反射波の受信との間の伝播時間に基づいて、第２距離値が決定される。   The method is used to detect at least one object around a motor vehicle. One or more objects in the surrounding area of the motor vehicle are thus characterized. In particular, the height of at least one object is to be measured. For this purpose, a plurality of measurement cycles are performed using the distance sensor of the driver assistance system. The distance sensor is, for example, a radar sensor, a laser sensor, or an ultrasonic sensor. In each measurement cycle, a transmission signal is transmitted through the distance sensor. This transmission signal is reflected by at least one object in the surrounding area of the motor vehicle and reaches the distance sensor again as a reflected wave. In this case, generally, a plurality of reflected waves of the transmission signal are received. A distance between the distance sensor and the object is determined based on a propagation time between transmission of the transmission signal and reception of each reflected wave. Based on the primary reflected wave, the first distance value is determined based on the propagation time between transmission of the transmission signal and reception of the primary reflected wave. Further, the second distance value is determined based on the propagation time between transmission of the transmission signal and reception of the secondary reflected wave.

各計測サイクルが実行されている間に、少なくとも１つの物体に対して自動車両が動かされてよい。自動車両は、かくして少なくとも１つの物体に向かって動かされ得る。或いは、自動車両は少なくとも１つの物体から遠ざかって動かされ得る。少なくとも１つの物体が動くことになっていてもよい。計測サイクルのそれぞれにおいて、第２距離値と第１距離値との間の差を表す差の値が決定される。少なくとも２つの計測サイクル、特に時系列的に連続した計測サイクルからの差の値が比較される。かくして、第１の計測サイクル中に測定された第１の差の値が、第２の計測サイクル中に測定された第２の差の値と比較される。それにより、２つの計測サイクル同士の間における差の値の変化が決定される。そして、この差の値の変化が、物体の高さを測定するのに用いられる。   The motor vehicle may be moved relative to at least one object while each measurement cycle is being performed. The motor vehicle can thus be moved towards at least one object. Alternatively, the motor vehicle can be moved away from at least one object. At least one object may be moving. In each of the measurement cycles, a difference value representing the difference between the second distance value and the first distance value is determined. The difference values from at least two measurement cycles, in particular from successive measurement cycles in time series, are compared. Thus, the first difference value measured during the first measurement cycle is compared with the second difference value measured during the second measurement cycle. Thereby, the change in the value of the difference between the two measurement cycles is determined. This change in difference value is then used to measure the height of the object.

本発明は、異なる物体同士は、一次反射波と二次反射波との間の違いを明示する、という認識に基づいている。少なくとも１つの物体に対して自動車両が動かされることのない一度の計測しか行われない場合には、例えば当該物体が高い物体であるか、それとも複数の低い物体であるかを識別することは不可能である。この目的のために、異なる位置に基づいて、反射波同士の間の差が測定される。かくして、物体がより精確に特徴付けられ得るし、特に物体の高さがより確実に推定され得る。   The present invention is based on the recognition that different objects demonstrate the difference between primary and secondary reflected waves. If only one measurement is performed without moving the motor vehicle for at least one object, for example, it is not possible to identify whether the object is a high object or a plurality of low objects. Is possible. For this purpose, the difference between the reflected waves is measured based on different positions. Thus, the object can be characterized more precisely, and in particular the height of the object can be estimated more reliably.

差の値の変化が所定の閾値を超えている場合には、少なくとも１つの物体が高いものと特徴付けられることが好ましい。少なくとも１つの物体に対する自動車両の相対運動に伴って差の値が変化する場合には、それが高い物体であると想定され得る。この場合、第１距離値と第２距離値との比率が、自動車両の物体からの距離の関数として変化する、ということが考慮される。差の値が時間の関数として本質的に一定のままである場合には、各反射波が、高い物体からの反射より生じてはいないと想定され得る。   Preferably, at least one object is characterized as high if the change in difference value exceeds a predetermined threshold. If the difference value changes with the relative movement of the motor vehicle relative to at least one object, it can be assumed that it is a high object. In this case, it is taken into account that the ratio between the first distance value and the second distance value changes as a function of the distance from the object of the motor vehicle. If the difference value remains essentially constant as a function of time, it can be assumed that each reflected wave is not caused by a reflection from a high object.

付加的な実施形態においては、計測サイクルのそれぞれについて、差の値に対する基準値が決定され、その基準値が、決定された差の値と比較される。基準値は、高い物体が自動車両の前方に存在するということに基づいて作られてよい。それにより、どのように送信信号が物体によって反射され、送信信号のどの反射を通じて一次および二次反射波がもたらされているかが、高い蓋然性で計算され得る。かくして、基準値を用いて、差の値の妥当性検査が成し遂げられ得る。かくして、物体が確実に特徴付けられ得る。   In an additional embodiment, for each measurement cycle, a reference value for the difference value is determined, and the reference value is compared to the determined difference value. The reference value may be made based on the fact that a high object exists in front of the motor vehicle. Thereby, it can be calculated with high probability how the transmitted signal is reflected by the object and through which reflection of the transmitted signal the primary and secondary reflected waves are introduced. Thus, using the reference value, a validity check of the difference value can be achieved. Thus, the object can be reliably characterized.

別の実施形態においては、基準値の差の値との比較時に許容誤差値が考慮される。この許容誤差値が、決定された差の値から差し引かれてよい。それに代えて、或いはそれに加えて、決定された差の値が許容誤差値に加えられてもよい。このようにして、第１および第２距離値の測定中における計測の不正確性が考慮されるのである。   In another embodiment, the tolerance value is taken into account when compared with the difference value of the reference value. This tolerance value may be subtracted from the determined difference value. Alternatively or additionally, the determined difference value may be added to the tolerance value. In this way, measurement inaccuracies during the measurement of the first and second distance values are taken into account.

第１距離値を基にして算出された第２距離値の推定値に基づいて、基準値が決定されることが好ましい。一次反射波は、距離センサによってしかるべく受信され得る。第１距離値は、一次反射波に基づいて算出され得る。第２距離値については推定値が算出される。この値は、自動車両と物体との間の幾何学的特性に基づいて決定され得る。その場合、物体は高いものと想定されている。超音波信号の伝播経路は、予め高い信号に対してしかるべく決められていてよい。かくして、第２距離値について推定値が決定され得る。この推定値は、二次反射波に基づいて測定される測定第２距離値に対する妥当性検査を行うのにも用いられてよい。   It is preferable that the reference value is determined based on the estimated value of the second distance value calculated based on the first distance value. The primary reflected wave can be received accordingly by the distance sensor. The first distance value can be calculated based on the primary reflected wave. An estimated value is calculated for the second distance value. This value can be determined based on the geometric properties between the motor vehicle and the object. In that case, the object is assumed to be expensive. The propagation path of the ultrasonic signal may be determined in advance for a high signal. Thus, an estimate can be determined for the second distance value. This estimated value may also be used to validate the measured second distance value measured based on the secondary reflected wave.

少なくとも１つの物体の底部箇所の区域からの送信信号の反射より二次反射波が生じるとの想定の下で、第２距離値についての推定値が決定されることが好ましい。「底部箇所」はここでは、物体が例えば表面(特に路面)に隣接しているところの当該物体の区域を意味するものと理解されたい。かくして、例えば第１距離値が距離センサと物体との間の最短距離を表すものと想定され得る。さらに、第２距離値が距離センサと物体の底部箇所との間の距離を表すものと想定され得る。従って、第２距離値についての推定値が、かくして差の値の基準値が、簡素かつ確実な方式で決定され得る。   Preferably, an estimate for the second distance value is determined under the assumption that a secondary reflected wave is generated from the reflection of the transmitted signal from the area at the bottom of at least one object. “Bottom location” is to be understood here as meaning the area of the object, for example where the object is adjacent to the surface, in particular the road surface. Thus, for example, it can be assumed that the first distance value represents the shortest distance between the distance sensor and the object. Furthermore, it can be assumed that the second distance value represents the distance between the distance sensor and the bottom part of the object. Therefore, the estimated value for the second distance value and thus the reference value for the difference value can be determined in a simple and reliable manner.

さらに、自動車両上の、および／または自動車両内の距離センサの設置高の関数として、基準値が決定されることが有利である。距離センサは、例えば自動車両のバンパーの内部や背後に配置されてよい。或いは、距離センサは、自動車両の車体部分（例えばドア）の内部や背後に配置されてもよい。距離センサの設置位置に関する情報の要素に基づいて、距離センサと物体との間の相対位置が決定され得る。特に、物体からの最短距離と、物体の底部箇所からの最短距離とが、測定ないしは算出され得る。このようにして、基準値が確実に確かめられ得る。   Furthermore, it is advantageous for the reference value to be determined as a function of the installation height of the distance sensor on and / or in the motor vehicle. The distance sensor may be disposed, for example, inside or behind the bumper of the motor vehicle. Alternatively, the distance sensor may be disposed inside or behind a vehicle body part (for example, a door) of the motor vehicle. A relative position between the distance sensor and the object can be determined based on an element of information regarding the installation position of the distance sensor. In particular, the shortest distance from the object and the shortest distance from the bottom of the object can be measured or calculated. In this way, the reference value can be reliably ascertained.

本発明による運転者支援システムは、少なくとも１つの距離センサと、本発明による方法を実行するために設計された制御装置とを含む。制御装置は、例えば自動車両の制御装置（電子制御ユニット、ＥＣＵ）によって形成されていてよい。   The driver assistance system according to the invention comprises at least one distance sensor and a control device designed for carrying out the method according to the invention. The control device may be formed by, for example, a control device (electronic control unit, ECU) for an automobile.

制御装置は、少なくとも１つの距離センサを用いて測定された少なくとも１つの物体の高さに基づいて、少なくとも１つの物体に近接した駐車スペースを検出するように設計されていることが好ましい。制御装置は、第１および第２距離値に基づいて物体の高さを測定するように設計されている。かくして、例えば高い物体が低い物体から識別され得る。特に、それにより縁石が検出され得る。特に、障害物が乗り越えられ得るかどうか、ないしは自動車両が物体を越えて動かされ得るかどうかが検出されてもよい。かくして、例えば駐車スペースの目印や、縁石や、駐車車両の間での識別を行うことが可能となる。このようにして、駐車スペース、即ち無料駐車場が確実に検出され得る。   The control device is preferably designed to detect a parking space proximate to the at least one object based on the height of the at least one object measured using the at least one distance sensor. The controller is designed to measure the height of the object based on the first and second distance values. Thus, for example, a high object can be distinguished from a low object. In particular, curbstones can thereby be detected. In particular, it may be detected whether an obstacle can be overcome or whether the motor vehicle can be moved over an object. Thus, for example, it is possible to identify a parking space mark, a curbstone, or a parked vehicle. In this way, a parking space, i.e. a free parking lot, can be reliably detected.

別の実施形態において、制御装置は、少なくとも１つの距離センサを用いて測定された少なくとも１つの物体の高さに基づいて、緊急制動を行うように設計されている。測定された物体の高さに基づいて、当該物体が、衝突の差し迫った障害物を構成するかどうかが識別され得る。さらに、自動車両が当該物体を乗り越え得るかどうかが確かめられてよい。この情報の要素に基づいて、自動緊急制動が開始されるか否かが判断され得る。   In another embodiment, the controller is designed to provide emergency braking based on the height of at least one object measured using at least one distance sensor. Based on the measured object height, it can be identified whether the object constitutes an impending obstacle of collision. Furthermore, it can be ascertained whether the motor vehicle can get over the object. Based on this element of information, it can be determined whether automatic emergency braking is initiated.

さらに、制御装置は、少なくとも１つの距離センサを用いて測定された少なくとも１つの物体の高さに基づいて、自動車両の操舵システムおよび／または制動システムおよび／または駆動装置への介入を行うように設計されているのが有利である。換言すれば、少なくとも１つの物体の測定された高さに基づいて、自動車両が少なくとも半自動的（半自律的）に操作され得るのである。例えば、運転者が加速ペダルおよびブレーキ（制動機）を操作し続ける一方で、自動車両の操舵システムへの介入が生じ得る。制御装置によって自動車両が自動的（自律的）に操作されることも考えられる。この場合は、運転者支援システムが、車両のブレーキ、および駆動装置ないし駆動機関への介入をも引き受ける。   Furthermore, the control device is adapted to intervene in the steering system and / or braking system and / or drive device of the motor vehicle based on the height of at least one object measured using the at least one distance sensor. It is advantageous to be designed. In other words, based on the measured height of at least one object, the motor vehicle can be operated at least semi-automatically (semi-autonomous). For example, while the driver continues to operate the accelerator pedal and brake (brake), intervention in the steering system of the motor vehicle may occur. It is also conceivable that the automatic vehicle is automatically (autonomously) operated by the control device. In this case, the driver assistance system takes over the braking of the vehicle and the intervention to the drive or drive engine.

本発明による自動車両は、本発明による運転者支援システムを含むものである。自動車両は、特に乗用車として構成される。   The motor vehicle according to the present invention includes the driver assistance system according to the present invention. The motor vehicle is particularly configured as a passenger car.

本発明による方法に関して与えられる諸実施形態と、それらの利点とは、本発明による運転者支援システム、および本発明による自動車両に対して相応に当て嵌まる。   The embodiments given with regard to the method according to the invention and their advantages apply correspondingly to the driver assistance system according to the invention and the motor vehicle according to the invention.

本発明の付加的な諸特徴は、特許請求の範囲、図面、および図面の説明から結果として得られるものである。明細書において上述した全ての特徴および特徴同士の組み合わせ、並びに、図面の説明において後述され、および／または図面だけに以下で示される各特徴および特徴同士の組み合わせは、それぞれの特定された組合せだけでなく、その他の組合せや単独でも適用可能である。   Additional features of the invention result from the claims, the drawings, and the description of the drawings. All features and combinations of features described above in the specification, and each feature and combination of features described below in the description of the drawings and / or shown below only in the drawings, are only those specific combinations. It can be applied in other combinations or alone.

ここで、好適な例示実施形態に基づいて、また添付図面を参照して、本発明がずっと詳細に説明されることとなる。   The present invention will now be described in greater detail based on preferred exemplary embodiments and with reference to the accompanying drawings.

本発明の一実施形態による自動車両の模式的表現。1 is a schematic representation of a motor vehicle according to one embodiment of the present invention. 第１物体に向かって移動する、図１による自動車両。1. The motor vehicle according to FIG. 1, moving towards a first object. 第２および第３物体に向かって移動する、図１による自動車両。The motor vehicle according to FIG. 1, moving towards the second and third objects.

図１は、本発明の一実施形態による自動車両１を示している。本例示実施形態において、自動車両１は乗用車として構成されている。自動車両１は運転者支援システム２を含んでいる。運転者支援システム２は、例えば緊急制動を自動的に行うように構成されていてよい。それに代えて、或いはそれに加えて、運転者支援システム２は、駐車スペースを検出するように、また検出した駐車スペースに自動車両１を少なくとも半自動的に駐車させるように設計されていてもよい。   FIG. 1 shows a motor vehicle 1 according to an embodiment of the present invention. In the present exemplary embodiment, the motor vehicle 1 is configured as a passenger car. The motor vehicle 1 includes a driver assistance system 2. The driver assistance system 2 may be configured to automatically perform emergency braking, for example. Alternatively or additionally, the driver assistance system 2 may be designed to detect a parking space and to park the motor vehicle 1 at least semi-automatically in the detected parking space.

運転者支援システム２が今度は、制御装置３を含んでいる。制御装置３は、例えば自動車両１の制御ユニットによって形成されていてもよい。また、運転者支援システム２は、少なくとも１つの距離センサ４を含んでいる。本例示実施形態において、運転者支援システム２は８つの距離センサ４を含んでいる。４つの距離センサ４が自動車両１の前方部分５に配置され、４つの距離センサ４が自動車両１の後方部分６に配置されている。距離センサ４は特に、自動車両１の周辺区域７内における少なくとも１つの物体９ａ，９ｂ，９ｃを検出するように構成されている。また、距離センサ４は特に、自動車両１の周辺区域７内における少なくとも１つの物体９ａ，９ｂ，９ｃからの距離を検出するように設計され得る。距離センサ４は、例えば超音波センサ、レーダーセンサ、レーザーセンサなどとして構成されていてよい。   The driver assistance system 2 now includes a control device 3. The control device 3 may be formed by a control unit of the motor vehicle 1, for example. The driver support system 2 includes at least one distance sensor 4. In the present exemplary embodiment, the driver assistance system 2 includes eight distance sensors 4. Four distance sensors 4 are arranged in the front part 5 of the motor vehicle 1, and four distance sensors 4 are arranged in the rear part 6 of the motor vehicle 1. The distance sensor 4 is particularly configured to detect at least one object 9a, 9b, 9c in the peripheral area 7 of the motor vehicle 1. The distance sensor 4 can also be designed in particular to detect the distance from at least one object 9a, 9b, 9c in the peripheral area 7 of the motor vehicle 1. The distance sensor 4 may be configured as, for example, an ultrasonic sensor, a radar sensor, a laser sensor, or the like.

さらに、自動車両１ないし運転者支援システム２は、作動装置８を含んでいる。作動装置８は、自動車両１の操舵および／若しくは制動システム、並びに／または駆動機関への介入を行うように設計されている。作動装置８は、データ通信のために、対応するデータケーブルを介して制御装置３に接続されている。さらに、各距離センサ４が、データ通信のために制御装置３に接続されている。対応する各データラインは、明瞭性のために図示されていない。   Furthermore, the motor vehicle 1 or the driver assistance system 2 includes an actuating device 8. The actuating device 8 is designed to intervene in the steering and / or braking system of the motor vehicle 1 and / or the drive engine. The actuating device 8 is connected to the control device 3 via a corresponding data cable for data communication. Further, each distance sensor 4 is connected to the control device 3 for data communication. Each corresponding data line is not shown for clarity.

少なくとも１つの距離センサ４は、ここでは物体９ａ，９ｂ，９ｃの高さを測定するのに用いられるべきものである。この目的のために、少なくとも１つの距離センサ４が、時系列的に連続した計測サイクルにおいて作動される。当該計測サイクルのそれぞれにおいて、距離センサ４によって送信信号が送信される。この送信信号は、少なくとも１つの物体９ａ，９ｂ，９ｃから反射されて、再び距離センサ４に到達する。送信信号は、一般的に複数回反射され、その結果、送信信号の複数の反射波が距離センサ４に到達する。   At least one distance sensor 4 is to be used here for measuring the height of the objects 9a, 9b, 9c. For this purpose, at least one distance sensor 4 is activated in a continuous measurement cycle in time series. In each of the measurement cycles, a transmission signal is transmitted by the distance sensor 4. This transmission signal is reflected from at least one object 9a, 9b, 9c and reaches the distance sensor 4 again. The transmission signal is generally reflected a plurality of times, and as a result, a plurality of reflected waves of the transmission signal reach the distance sensor 4.

少なくとも１つの物体９ａ，９ｂ，９ｃの高さを測定するために、自動車両１が当該物体９ａ，９ｂ，９ｃに対して動かされる。自動車両１は、例えば少なくとも１つの物体９ａ，９ｂ，９ｃに向かって動かされてよい。計測サイクルのそれぞれにおいて、送信信号の送信と一次反射波の受信との間の伝播時間に基づいて、第１距離値ａ１が決定される。また、送信信号の送信と二次反射波の受信との間の伝播時間に基づいて、第２距離値ａ２が決定される。また、制御装置３によって、第２距離値ａ２と第１距離値ａ１との間の差を表す差の値が決定される。   In order to measure the height of at least one object 9a, 9b, 9c, the motor vehicle 1 is moved relative to the object 9a, 9b, 9c. The motor vehicle 1 may be moved towards at least one object 9a, 9b, 9c, for example. In each measurement cycle, the first distance value a1 is determined based on the propagation time between transmission of the transmission signal and reception of the primary reflected wave. Further, the second distance value a2 is determined based on the propagation time between the transmission of the transmission signal and the reception of the secondary reflected wave. Further, the control device 3 determines a difference value representing a difference between the second distance value a2 and the first distance value a1.

目下の場合、少なくとも２つの計測サイクル同士の間における差の値の変化が、ここで決定される。当該差の値の変化に基づいて、物体９ａ，９ｂ，９ｃが高い物体であるか、それとも低い物体であるかが検査され得る。差の値に対する妥当性検査を行うために、基準値が用いられてもよい。この基準値は、例えば第２距離値ａ２についての推定値に基づいて決定されてよい。この第２距離値ａ２についての推定値は、物体９ａ，９ｂ，９ｃが高い物体であるとの想定の下で決定され得る。このことが、図２に基づいて以下で説明されることとなる。   In the present case, the change in the difference value between at least two measurement cycles is determined here. Based on the change in the difference value, it can be checked whether the objects 9a, 9b, 9c are high or low. A reference value may be used to validate the difference value. This reference value may be determined based on an estimated value for the second distance value a2, for example. The estimated value for the second distance value a2 can be determined under the assumption that the objects 9a, 9b, 9c are high objects. This will be described below with reference to FIG.

図２は、第１物体９ａに向かって動いている自動車両１を示している。物体９ａは高い物体である。本概略は、ある計測サイクルの実行を示している。この場合、送信信号が送信される。この信号は物体９ａによって反射される。ここで、第１距離値ａ１は、距離センサ４と第１物体９ａとの間の最短距離を表すものと想定されている。さらに、第２距離値ａ２は、距離センサ４と、第１物体９ａの底部箇所１０との間の最短距離を表すものと想定されている。底部箇所１０は、表面１１（特に路面）に隣接した第１物体９ａの区域に相当している。さらに、距離センサ４の設置高ｈは既知である。設置高ｈは、表面１１に始まって車両の垂直軸線に沿って伸びるものとして規定される。本例示実施形態において、設置高ｈは、例えば４０ｃｍであってよい。   FIG. 2 shows the motor vehicle 1 moving toward the first object 9a. The object 9a is a high object. This outline shows the execution of a certain measurement cycle. In this case, a transmission signal is transmitted. This signal is reflected by the object 9a. Here, the first distance value a1 is assumed to represent the shortest distance between the distance sensor 4 and the first object 9a. Furthermore, the second distance value a2 is assumed to represent the shortest distance between the distance sensor 4 and the bottom portion 10 of the first object 9a. The bottom portion 10 corresponds to the area of the first object 9a adjacent to the surface 11 (particularly the road surface). Furthermore, the installation height h of the distance sensor 4 is known. The installation height h is defined as starting at the surface 11 and extending along the vertical axis of the vehicle. In the present exemplary embodiment, the installation height h may be 40 cm, for example.

第１距離値ａ１については、例えば１００ｃｍの値という結果となり、第２距離値ａ２については、例えば１０９ｃｍの値という結果となり得る。第２距離値ａ２についての推定値を算出するために、ここでは、第１距離値ａ１、第２距離値ａ２、および設置高ｈによって直角三角形が形成されるものと想定され得る。この場合、第１距離値ａ１は隣辺を表し、設置高ｈは対辺を表し、第２距離値ａ２は斜辺を表す。送信信号の送信と一次反射波の受信との間の伝播時間に基づいて第１距離値ａ１が決定されるならば、第２距離値ａ２は算出され得る。この値は、設置高ｈの自乗に第１距離値ａ１の自乗を加えたものの平方根より算出される。上述した例については、１０７．７ｃｍの推定値が得られる。計測された第２距離値ａ２は１０９ｃｍである。許容誤差値の適用により、ここでは第２距離値ａ２についての推定値が、本質的には計測された距離値ａ２に対応するものと判断されてよい。かくして、当該物体は高い物体であると想定され得る。   For example, the first distance value a1 may result in a value of 100 cm, and the second distance value a2 may result in a value of 109 cm, for example. In order to calculate the estimated value for the second distance value a2, it can be assumed here that a right triangle is formed by the first distance value a1, the second distance value a2, and the installation height h. In this case, the first distance value a1 represents the adjacent side, the installation height h represents the opposite side, and the second distance value a2 represents the hypotenuse. If the first distance value a1 is determined based on the propagation time between the transmission of the transmission signal and the reception of the primary reflected wave, the second distance value a2 can be calculated. This value is calculated from the square root of the square of the installation height h plus the square of the first distance value a1. For the example described above, an estimated value of 107.7 cm is obtained. The measured second distance value a2 is 109 cm. By applying the allowable error value, it may be determined here that the estimated value for the second distance value a2 essentially corresponds to the measured distance value a2. Thus, it can be assumed that the object is a tall object.

図３は、自動車両１が第２物体９ｂおよび第３物体９ｃに向かって動く、付加的な例示実施形態を示している。この場合、第２物体９ｂおよび第３物体９ｃは、自動車両１によって通り越され得る低い障害物である。この場合、第１距離値ａ１の計測については１００ｃｍの値という結果となり、第２距離値ａ２の計測については１１９ｃｍの値という結果となっている。ここで、上述した計算に従えば、第２距離値ａ２の推定値については１０７．７ｃｍの値という結果が得られる。しかしながら、１１９ｃｍの第２距離値ａ２が計測されていた。許容誤差値の適用をしたとしても、測定された第２距離値ａ２は、第２距離値ａ２についての推定値と合っていない。二次反射波が単一の物体から生じておらず、特に高い物体からのものではないと想定され得る。   FIG. 3 shows an additional exemplary embodiment in which the motor vehicle 1 moves towards the second object 9b and the third object 9c. In this case, the second object 9 b and the third object 9 c are low obstacles that can be passed by the motor vehicle 1. In this case, the measurement of the first distance value a1 results in a value of 100 cm, and the measurement of the second distance value a2 results in a value of 119 cm. Here, according to the calculation described above, a result of 107.7 cm is obtained for the estimated value of the second distance value a2. However, the second distance value a2 of 119 cm was measured. Even if the allowable error value is applied, the measured second distance value a2 does not match the estimated value for the second distance value a2. It can be assumed that the secondary reflected wave does not originate from a single object and not from a particularly high object.

ここで、距離値ａ１およびａ２に基づいて、第２物体９ｂと第３物体９ｃとの間の距離を測定することも可能である。この場合、差の値（即ち、第２距離値ａ２と第１距離値ａ１との間の差）が、距離センサ４と物体９ａ，９ｂ，９ｃとの間における距離の範囲に渡って様々な仕方で変化する、ということが考慮される。図３による例示実施形態については、（この場合は約２０ｃｍである）当該の差が、全距離範囲に渡って略一定のままである。その結果、距離センサ４と物体９ａ，９ｂ，９ｃとの間における、短い距離（例えば１００ｃｍ）だけでなく、例えば３００ｃｍの距離についても、同じ差の値が結果として得られる。   Here, it is also possible to measure the distance between the second object 9b and the third object 9c based on the distance values a1 and a2. In this case, the difference value (that is, the difference between the second distance value a2 and the first distance value a1) varies over the distance range between the distance sensor 4 and the objects 9a, 9b, 9c. It is taken into account that it changes in a way. For the exemplary embodiment according to FIG. 3, the difference (in this case about 20 cm) remains substantially constant over the entire distance range. As a result, not only a short distance (for example, 100 cm) between the distance sensor 4 and the objects 9a, 9b, and 9c but also a distance of, for example, 300 cm, the same difference value is obtained as a result.

図２に基づく例による（この場合は９ｃｍである）差の値は、距離の範囲に渡って変化する。差の値は、距離センサ４と物体９ａとの間での長い距離に対しては大きく、物体９ａ，９ｂ，９ｃ距離センサ４と物体９ａとの間での短い距離に対しては小さい。この特性がここでは、物体９ａ，９ｂ，９ｃ同士を区別するのに用いられ得る。特に、差の値（即ち、一次反射波と二次反射波との間の距離）が、偶然の一致により、高い物体と低い物体とで同一である場合には、本方法が用いられ得る。ここで、計算に基づくだけでは区別を行うのを可能とすることはできない。但し、自動車両１が物体９ａ，９ｂ，９ｃに対して動いている場合には、差の値が変化し、かくして判断が可能となる。これは特に、距離センサ４と物体９ａ，９ｂ，９ｃとの間における短い距離の場合に生じる。   The difference value according to the example according to FIG. 2 (in this case 9 cm) varies over a range of distances. The difference value is large for a long distance between the distance sensor 4 and the object 9a, and is small for a short distance between the objects 9a, 9b, and 9c and the object 9a. This property can be used here to distinguish the objects 9a, 9b, 9c from each other. In particular, the method may be used when the difference value (ie, the distance between the primary and secondary reflected waves) is the same for high and low objects due to coincidence. Here, it is not possible to make a distinction only based on calculation. However, when the motor vehicle 1 is moving with respect to the objects 9a, 9b, and 9c, the difference value changes, and thus determination is possible. This occurs particularly in the case of a short distance between the distance sensor 4 and the objects 9a, 9b, 9c.

かくして、物体９ａ，９ｂ，９ｃの高さを測定するための簡素なアルゴリズムが与えられ得る。これは、自動車両１における距離センサ４の数とは無関係である。また、物体９ａ，９ｂ，９ｃの高さの迅速な推定が可能となり得る。本方法は、経済的なやり方で、僅かな計算能力を用いて成すことを可能とされ得る。   Thus, a simple algorithm for measuring the height of the objects 9a, 9b, 9c can be provided. This is independent of the number of distance sensors 4 in the motor vehicle 1. It may also be possible to quickly estimate the height of the objects 9a, 9b, 9c. The method may be made possible in an economic manner with little computational power.

Claims (12)

運転者支援システム（２）によって、自動車両（１）の周辺区域（７）内における少なくとも１つの物体（９ａ，９ｂ，９ｃ）を検出するための方法であって、時系列的に連続した計測サイクルのそれぞれにおいて、距離センサ（４）を通じて送信信号が送信され、前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）によって反射された前記送信信号の一次および二次反射波が受信され、制御装置（３）によって、前記一次反射波に基づいて第１距離値（ａ１）が決定され、前記二次反射波に基づいて第２距離値（ａ２）が決定されると共に、前記第１距離値（ａ１）および前記第２距離値（ａ２）に基づいて前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）の高さが決定される、方法において、
前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）に対する前記自動車両（１）の相対運動中に前記計測サイクルが実行され、
前記計測サイクルのうち少なくとも２つにおいて、それぞれの場合における、前記第２距離値（ａ２）と前記第１距離値（ａ１）との間の差を表す差の値が決定され、
前記少なくとも２つの計測サイクルにおいて決定されたそれぞれの前記差の値の変化に基づいて、前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）の高さが決定される
ことを特徴とする方法。 A method for detecting at least one object (9a, 9b, 9c) in a peripheral area (7) of a motor vehicle (1) by means of a driver assistance system (2), which is a continuous measurement in time series In each of the cycles, a transmission signal is transmitted through the distance sensor (4), and primary and secondary reflected waves of the transmission signal reflected by the at least one object (9a, 9b, 9c) are received and the control device ( 3), the first distance value (a1) is determined based on the primary reflected wave, the second distance value (a2) is determined based on the secondary reflected wave, and the first distance value (a1) is determined. ) And the second distance value (a2), the height of the at least one object (9a, 9b, 9c) is determined,
The measurement cycle is performed during the relative movement of the motor vehicle (1) with respect to the at least one object (9a, 9b, 9c);
In at least two of the measurement cycles, a difference value representing a difference between the second distance value (a2) and the first distance value (a1) in each case is determined.
A method, characterized in that the height of the at least one object (9a, 9b, 9c) is determined on the basis of changes in the respective difference values determined in the at least two measurement cycles. 前記差の値の変化が所定の閾値を超えている場合には、前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）が高いものと特徴付けられることを特徴とする請求項１記載の方法。   Method according to claim 1, characterized in that the at least one object (9a, 9b, 9c) is characterized as high if the change in the difference value exceeds a predetermined threshold. 前記計測サイクルのそれぞれについて、前記差の値に対する基準値が決定され、前記基準値が前記決定された差の値と比較されることを特徴とする請求項１または２記載の方法。   3. A method according to claim 1 or 2, characterized in that, for each of the measurement cycles, a reference value for the difference value is determined and the reference value is compared with the determined difference value. 前記基準値の前記決定された差の値との比較時に許容誤差値が考慮されることを特徴とする請求項３記載の方法。   4. A method according to claim 3, characterized in that an acceptable error value is taken into account when comparing the reference value with the determined difference value. 前記第１距離値（ａ１）を基にして算出された、前記第２距離値（ａ２）についての推定値に基づいて、前記基準値が決定されることを特徴とする請求項３または４記載の方法。   The reference value is determined based on an estimated value for the second distance value (a2) calculated based on the first distance value (a1). the method of. 前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）の底部箇所（１０）の区域における前記送信信号の反射から前記二次反射波が生じるとの想定の下で、前記第２距離値（ａ２）についての前記推定値が決定されることを特徴とする請求項５記載の方法。   Regarding the second distance value (a2) under the assumption that the secondary reflected wave is generated from the reflection of the transmission signal in the area of the bottom portion (10) of the at least one object (9a, 9b, 9c). 6. The method of claim 5, wherein the estimate of is determined. 前記自動車両（１）上の、および／または前記自動車両（１）内の前記距離センサ（４）の設置高（ｈ）の関数として、前記基準値が決定されることを特徴とする請求項３から６のいずれか一項に記載の方法。   The reference value is determined as a function of the installation height (h) of the distance sensor (4) on and / or in the motor vehicle (1). The method according to any one of 3 to 6. 少なくとも１つの距離センサ（４）を含むと共に、請求項１から７のいずれか一項に記載の方法を実行するために設計された制御装置（３）を含む運転者支援システム（２）。 Driver assistance system (2) comprising at least one distance sensor (4) and comprising a control device (3) designed to carry out the method according to any one of the preceding claims . 前記制御装置（３）は、前記少なくとも１つの距離センサ（４）を用いて測定された前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）の高さに基づいて、前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）に近接した駐車スペースを検出するように設計されていることを特徴とする請求項８記載の運転者支援システム（２）。   The control device (3) is configured to determine the at least one object (9a, 9c) based on the height of the at least one object (9a, 9b, 9c) measured using the at least one distance sensor (4). 9. Driver assistance system (2) according to claim 8, characterized in that it is designed to detect parking spaces close to 9b, 9c). 前記制御装置（３）は、前記少なくとも１つの距離センサ（４）を用いて測定された前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）の高さに基づいて、緊急制動を行うように設計されていることを特徴とする請求項８または９記載の運転者支援システム（２）。   The control device (3) is designed to perform emergency braking based on the height of the at least one object (9a, 9b, 9c) measured using the at least one distance sensor (4). 10. The driver assistance system (2) according to claim 8 or 9, characterized in that 前記制御装置（３）は、前記少なくとも１つの距離センサ（４）を用いて測定された前記少なくとも１つの物体（９ａ，９ｂ，９ｃ）の高さに基づいて、前記自動車両（１）の操舵システムおよび／または制動システムおよび／または駆動装置への介入を行うように設計されていることを特徴とする請求項８から１０のいずれか一項に記載の運転者支援システム（２）。   The control device (3) steers the motor vehicle (1) based on the height of the at least one object (9a, 9b, 9c) measured using the at least one distance sensor (4). Driver assistance system (2) according to any one of claims 8 to 10, characterized in that it is designed for intervention in the system and / or braking system and / or drive. 請求項８から１１のいずれか一項に記載の運転者支援システム（２）を含んだ自動車両（１）。   A motor vehicle (1) comprising a driver assistance system (2) according to any one of claims 8 to 11.
JP2017520422A 2014-10-15 2015-10-14 Method for detecting at least one object in a surrounding area of a motor vehicle, driver assistance system, and motor vehicle Active JP6356350B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102014114999.8 2014-10-15
DE102014114999.8A DE102014114999A1 (en) 2014-10-15 2014-10-15 Method for detecting at least one object in an environmental region of a motor vehicle, driver assistance system and motor vehicle
PCT/EP2015/073734 WO2016059087A1 (en) 2014-10-15 2015-10-14 Method for detecting at least one object in a surrounding region of a motor vehicle, driver assistance system and motor vehicle

Publications (2)

Publication Number Publication Date
JP2017538109A JP2017538109A (en) 2017-12-21
JP6356350B2 true JP6356350B2 (en) 2018-07-11

Family

ID=54293266

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017520422A Active JP6356350B2 (en) 2014-10-15 2015-10-14 Method for detecting at least one object in a surrounding area of a motor vehicle, driver assistance system, and motor vehicle

Country Status (6)

Country Link
US (1) US10571564B2 (en)
EP (1) EP3207404B1 (en)
JP (1) JP6356350B2 (en)
CN (1) CN106796292B (en)
DE (1) DE102014114999A1 (en)
WO (1) WO2016059087A1 (en)

Families Citing this family (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016120433A1 (en) * 2016-10-26 2018-04-26 Valeo Schalter Und Sensoren Gmbh Parking lot recognition with laser scanner
CN106740478A (en) * 2016-12-31 2017-05-31 青岛翰兴知识产权运营管理有限公司 A kind of wide scope automobile assistant driving method for early warning based on dual sensor detection
CN107310471A (en) * 2016-12-31 2017-11-03 青岛翰兴知识产权运营管理有限公司 It is a kind of that method for early warning is aided in based on the wide scope automobile that dual sensor is detected
CN106627573A (en) * 2016-12-31 2017-05-10 青岛翰兴知识产权运营管理有限公司 Vehicle wide-range assistant driving early-warning method
CN106740477A (en) * 2016-12-31 2017-05-31 青岛翰兴知识产权运营管理有限公司 A kind of vehicle wide scope aids in method for early warning
CN106696828A (en) * 2016-12-31 2017-05-24 青岛翰兴知识产权运营管理有限公司 Double-sensor detection based automobile auxiliary early warning method
CN108263275A (en) * 2016-12-31 2018-07-10 青岛翰兴知识产权运营管理有限公司 A kind of vehicle assistant drive method for early warning based on dual sensor detection
CN107380162B (en) * 2017-06-08 2019-05-31 南京航空航天大学 Collision avoidance method is cooperateed with based on function distribution and Multi-Objective Fuzzy Decision
DE102017212868A1 (en) * 2017-07-26 2019-01-31 Robert Bosch Gmbh Device and method for detecting a position of an object
WO2019053812A1 (en) * 2017-09-13 2019-03-21 三菱電機株式会社 Obstacle detection device and obstacle detection method
JP6599075B2 (en) * 2017-09-22 2019-10-30 三菱電機株式会社 Obstacle detection device
DE102017217844A1 (en) * 2017-10-06 2019-04-11 Robert Bosch Gmbh Method and a machine learning system for classifying objects
DE102017127127A1 (en) * 2017-11-17 2019-05-23 Valeo Schalter Und Sensoren Gmbh Method for generating a driving trajectory of a vehicle
DE102018102786A1 (en) * 2018-02-08 2019-08-08 Valeo Schalter Und Sensoren Gmbh Method for detecting an object in an environmental region of a motor vehicle with estimation of the height of the object based on echo components of a received signal, computing device, ultrasonic sensor and driver assistance system
DE102018208647A1 (en) * 2018-05-30 2019-12-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Laser measuring device for measuring a distance to an object and method for operating the same
DE102018210814A1 (en) * 2018-06-30 2020-01-02 Robert Bosch Gmbh Method for the detection of static radar targets with a radar sensor for motor vehicles
WO2020021694A1 (en) * 2018-07-27 2020-01-30 三菱電機株式会社 Control device for object detection device, object detection device, and object detection program
DE102018214875A1 (en) * 2018-08-31 2020-03-05 Audi Ag Method and arrangement for generating an environmental representation of a vehicle and vehicle with such an arrangement
DE102018216790A1 (en) * 2018-09-28 2020-04-02 Robert Bosch Gmbh Method for evaluating an impact of an object in the environment of a means of transportation on a driving maneuver of the means of transportation
DE102019215393A1 (en) * 2019-10-08 2021-04-08 Robert Bosch Gmbh Method and device for classifying an object, in particular in the vicinity of a motor vehicle
DE102019128023B4 (en) 2019-10-17 2021-09-23 Valeo Schalter Und Sensoren Gmbh Method for classifying the height of an object by a driving assistance system
DE102021208072A1 (en) * 2021-07-27 2023-02-02 Continental Autonomous Mobility Germany GmbH Method for estimating the height of objects using ultrasonic sensors
CN113820719B (en) * 2021-09-18 2024-04-12 珠海上富电技股份有限公司 Method for measuring obstacle height by ultrasonic radar sensor and vehicle system

Family Cites Families (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IL125142A (en) * 1998-06-30 2001-04-30 Netmor Ltd Method and apparatus for determining the relative height of two targets
US6810330B2 (en) * 2001-07-31 2004-10-26 Omron Corporation Apparatus for and method of detecting object on road
DE10151965A1 (en) 2001-10-20 2003-05-08 Valeo Schalter & Sensoren Gmbh Method for operating a short-range detection system and short-range detection system
EP1467225A1 (en) * 2003-04-10 2004-10-13 IEE International Electronics & Engineering S.A.R.L. Vehicle parking assistance
US7167126B2 (en) * 2004-09-01 2007-01-23 The Boeing Company Radar system and method for determining the height of an object
DE102004047479A1 (en) 2004-09-30 2006-04-13 Robert Bosch Gmbh Method and device for classifying side boundaries of a parking space for a parking assistance system
DE102005038524A1 (en) 2005-08-02 2007-02-15 Valeo Schalter Und Sensoren Gmbh Method for determining the depth limit of a parking space by means of ultrasonic sensors and system for this purpose
DE102005044050A1 (en) * 2005-09-15 2007-03-22 Hella Kgaa Hueck & Co. Method for parking space determination for motor vehicles
JP5003674B2 (en) * 2006-03-27 2012-08-15 株式会社村田製作所 Radar device and moving body
CN2935181Y (en) 2006-07-20 2007-08-15 中国人民武装警察部队学院 Height alarm device for fire vehicle
US7623061B2 (en) * 2006-11-15 2009-11-24 Autoliv Asp Method and apparatus for discriminating with respect to low elevation target objects
DE102007035219A1 (en) * 2007-07-25 2009-01-29 Robert Bosch Gmbh Object classification method and parking assistance system
DE102007039348A1 (en) 2007-08-21 2009-02-26 Robert Bosch Gmbh Distance sensor and method for determining a distance
JP5418770B2 (en) * 2009-07-29 2014-02-19 トヨタ自動車株式会社 Radar equipment
CN102221698B (en) * 2010-03-15 2014-09-10 株式会社本田艾莱希斯 Radar apparatus
JP5616693B2 (en) * 2010-06-16 2014-10-29 株式会社豊田中央研究所 Radar system for vehicle and target height determination method
CN102456131A (en) * 2010-11-02 2012-05-16 屏东科技大学 Obstacle sensing method
JP2013124986A (en) * 2011-12-15 2013-06-24 Panasonic Corp Obstacle detector for vehicle
DE102012200308A1 (en) * 2012-01-11 2013-07-11 Robert Bosch Gmbh Method for detection of environment of motor car for e.g. distance control system supporting driver during parking maneuvers, involves stopping recording of measurement values, and transmitting new signal after reception of echo
DE102012209870A1 (en) * 2012-06-13 2013-12-19 Robert Bosch Gmbh DETERMINATION OF A CROSS-REFERENCE INDICATOR FOR AN OBJECT
JP6192910B2 (en) * 2012-09-04 2017-09-06 富士通テン株式会社 Radar apparatus and altitude calculation method
CN103837139A (en) * 2012-11-23 2014-06-04 株式会社日立制作所 Rough road surface driving assisted equipment and method for rough road driving assisting
JP5846316B2 (en) * 2012-11-27 2016-01-20 日産自動車株式会社 Vehicle acceleration suppression device and vehicle acceleration suppression method
CN103868519A (en) * 2012-12-13 2014-06-18 上海工程技术大学 Binocular intelligent vehicle online path planning system
CN103487810A (en) * 2013-09-09 2014-01-01 西安电子工程研究所 Method for detecting terrain obstacles with unmanned vehicle-borne radar based on echo characteristics
US9664789B2 (en) * 2014-02-20 2017-05-30 Mobileye Vision Technologies Ltd. Navigation based on radar-cued visual imaging

Also Published As

Publication number Publication date
DE102014114999A1 (en) 2016-04-21
WO2016059087A1 (en) 2016-04-21
CN106796292B (en) 2019-06-04
JP2017538109A (en) 2017-12-21
US20170299717A1 (en) 2017-10-19
EP3207404A1 (en) 2017-08-23
US10571564B2 (en) 2020-02-25
CN106796292A (en) 2017-05-31
EP3207404B1 (en) 2020-11-18

Similar Documents

Publication Publication Date Title
JP6356350B2 (en) Method for detecting at least one object in a surrounding area of a motor vehicle, driver assistance system, and motor vehicle
US9409574B2 (en) Vehicle acceleration suppression device and vehicle acceleration suppression method
KR101957071B1 (en) Method for the at least semi-autonomous manoeuvring of a motor vehicle, driver assistance system and motor vehicle
US9969385B2 (en) Method for carrying out a parking process for a vehicle and driver assistance device
US10247825B2 (en) Object detection device
JP6308186B2 (en) Collision avoidance support device
EP2990273A1 (en) Parking assist device
JP5513615B2 (en) Method and apparatus for collision monitoring for automobiles
KR101954547B1 (en) Method for detecting at least one object in a surrounding region of a motor vehicle by means of an ultrasonic sensor, driver assistance system, and motor vehicle
JP2016199262A (en) Avoidance of collision based on front wheel locus deviation during retreat travel
CN107848528B (en) Driving support device and driving support method
JP7109661B2 (en) A method for evaluating the influence of objects around the means of transportation on the driving operation of the means of transportation
US11001253B2 (en) Method for maneuvering a motor vehicle with movement of the motor vehicle into a detection position, driver assistance system and motor vehicle
JP5983276B2 (en) Parking assistance device
JP6060647B2 (en) Vehicular speed control device and vehicular speed control method
JP4683910B2 (en) Collision prevention support device
US20120310481A1 (en) Method for operating a driver assistance system of a motor vehicle and driver assistance system for a motor vehicle
EP3053808B1 (en) Driver assistance system and method
KR20220060003A (en) Vehicle collision preventignd system and control method thereof
JP6167981B2 (en) Driving assistance device
US20220234573A1 (en) Moving object determination device
JP2022142252A (en) Human body detector and brake control system

Legal Events

Date Code Title Description
A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20180306

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20180410

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20180518

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20180613

R150 Certificate of patent or registration of utility model

Ref document number: 6356350

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250